#!/usr/bin/env python
PACKAGE = "formation_avoidance"

from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()




gen.add("lamda_Smoothness", double_t, 0, "lamda_Smoothness", 20, 0, 50)
gen.add("lamda_Distance", double_t, 0, "lamda_Distance", 20, 0, 500)
gen.add("lamda_Feasibility", double_t, 0, "lamda_Feasibility", 0.001, 0, 5)
gen.add("lamda_Collision", double_t, 0, "lamda_Collision", 60.0, 0, 200)
gen.add("lamda_HeightLimitation", double_t, 0, "lamda_HeightLimitation",50.0, 0, 100)
gen.add("lamda_EndPoint", double_t, 0, "lamda_EndPoint", 0.0005, 0, 2)
gen.add("lamda_velocityDirectionCost", double_t, 0, "lamda_velocityDirectionCost",1.0, 0, 50)
gen.add("lamda_SecondHalfCollisionPunishRatio", double_t, 0, "lamda_SecondHalfCollisionPunishRatio",1.0, 0, 50)


gen.add("lamda_Formation", double_t, 0, "lamda_Formation",10.0 ,0, 200)

gen.add("lamda_BaseFormation", double_t, 0, "lamda_BaseFormation",10.0, 0, 200)



exit(gen.generate(PACKAGE, "formation_avoidance", "MyStuff"))
